#ifndef ROBOT_MESSAGE_H
#define ROBOT_MESSAGE_H

#include "struct_typedef.h"
#include "bsp_usb.h"
//#include "configs.h"

#define message_data __attribute__((packed))
#define AIM_DATA_RECV_ID 							0x81
#define CHASSIS_CONTROL_RECV_ID 				0x82
#define REFEREE_RECV_ID								0x83

#define IMU_SEND_ID 										0x11
#define TYRE_SPEED_SEND_ID 						0x12
#define REFEREE_SEND_ID								0x13
#define GIMBAL_AND_CONFIG_SEND_ID 			0x14

typedef struct{
	float 											yaw;
	float 											pitch;
//	float 											w_yaw;
//	float 											w_pitch;	
	uint8_t 										target_rate;
	uint8_t 										target_number;
	fp32 										success;
}aim_data_t;

typedef struct{
	int16_t			 								forward_speed;
	int16_t 										panning_speed;
	int16_t											rotate_speed;
}chassis_control_data_t;




typedef struct{
	float 											x_gyro;
	float 											y_gyro;
	float 											z_gyro;
	float 											x_accel;
	float 											y_accel;
	float 											z_accel;
	float 											X;
	float 											Y;
	float 											Z;
	float 											W;
}imu_data_t;

typedef struct{
	float 											x_pos;
	float 											y_pos;
	float 											robot_yaw_angle;
	float 											forward_speed;
	float 											panning_speed;
	float 											rotate_speed;
}tyre_speed_data_t;

typedef struct{
	float 											pitch;
  	float 											roll;
  	float 											yaw;
  	uint8_t											is_pressing;
  	uint8_t 										mode;
  	uint8_t 										mode_config[8];
  	uint8_t                     					camera_id;
}gimbal_and_config_data_t;

typedef struct{
	aim_data_t 										aim_data_received;
	chassis_control_data_t 							chassis_data_received;
}nuc_receive_data_t;
/**/
typedef struct{
	imu_data_t										imu_data_send;
	tyre_speed_data_t								tyre_speed_data_send;
	gimbal_and_config_data_t						robot_gimbal_data_send;
}nuc_transmit_data_t;
//
typedef struct{
	uint8_t 	header;
	uint16_t 	length;
	uint8_t 	cmd_id;
}send_packge_config_t;


typedef struct{
	uint8_t cmd_id_queue[10];
	uint8_t cmd_id_frq[10];
	uint16_t total_num;
	uint16_t now_pos;
}cmd_id_queue_t;


extern nuc_receive_data_t	nuc_receive_data;
extern nuc_transmit_data_t 	nuc_transmit_data;
extern cmd_id_queue_t cmd_id_queue;


/*
head
len
id

data[287]

crc

291

*/



void data_send_control(uint8_t cmd_id,uint16_t freq);
void data_update(uint8_t cmd_id);

void Nuc_data_unpacked(void);

void cmd_id_init(void);
void cmd_id_task_create(uint8_t cmd_id,uint16_t freq);
void cmd_id_queue_handle(void);

void send_data_to_nuc(uint8_t cmd_id);
void float_to_u8(float* datain,uint8_t* dataout);
void u8_to_float(uint8_t* datain,float* dataout);
extern uint8_t CRC_Calculation(uint8_t *ptr, uint16_t len);


static const uint8_t CRC08_Table[256] = {
    0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
    0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
    0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
    0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
    0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
    0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
    0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
    0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
    0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
    0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
    0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
    0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
    0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
    0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
    0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
    0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
};

#endif

